Abstract
The paper designs a Three-DOF assembly robot based on the planar quadrilateral mechanism. It is mainly used for the handling and assembly of parts, featuring small size, low cost and simple transmission principle. The robot combined with the characteristics of the planar quadrilateral mechanism, a detailed kinematic analysis is carried out and the forward and inverse solutions are obtained. The paper use MATLAB to analyze its end working space and motion trajectory according to the constraint equation. Finally, the motion simulation is carried out using ADAMS, which verifies the effectiveness of the design and provides a theoretical basis for the kinematics research and structural optimization of the assembly robot.
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